CN114291073A

CN114291073A - Longitudinal comfort evaluation method based on vehicle deceleration

Info

Publication number: CN114291073A
Application number: CN202111587554.2A
Authority: CN
Inventors: 黄程; 张尧文; 杜光辉; 倪亚洲
Original assignee: Gewu Automotive Technology Suzhou Co ltd
Current assignee: Gewu Automotive Technology Suzhou Co ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-04-08

Abstract

The invention relates to the technical field of new energy automobiles, in particular to a longitudinal comfort evaluation method based on vehicle deceleration. Including the vehicle that possesses the ADAS function, various information of this car of data acquisition unit follow vehicle OBD mouth reading, its characterized in that: obtaining raw data a of deceleration of a vehicle by OBD_rawOriginal data v of vehicle speed_rawDefining the derivative of deceleration

And taking a and Jerk as indexes for measuring comfort. The invention has the advantages that: the invention mainly adopts the deceleration of the vehicle to carry out a special calculation mode to separately calculate instantaneous monitoring and long-term monitoring, superposes discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, judges the comfort level of a driver sitting on the vehicle through data, and judges the driving of the driver from the sideProvided is a technique.

Description

Longitudinal comfort evaluation method based on vehicle deceleration

Technical Field

The invention relates to the technical field of new energy automobiles, in particular to a longitudinal comfort evaluation method based on vehicle deceleration.

Background

In order to effectively calculate the driving techniques of different drivers and remind the drivers of improving the driving techniques and driving habits, the driver's techniques need to be evaluated from the sitting comfort level of a side passenger, and therefore a longitudinal comfort evaluation method based on vehicle deceleration needs to be designed to solve the problems.

Disclosure of Invention

The invention aims to provide a longitudinal comfort evaluation method based on vehicle deceleration so as to overcome the defects in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

a longitudinal comfort evaluation method based on vehicle deceleration comprises a vehicle with an ADAS function, a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining raw data a of deceleration of a vehicle by OBD_rawOriginal data v of vehicle speed_rawDefining the derivative of deceleration

Taking a and Jerk as comfort measurement indexes, processing the original value of deceleration a in the following two ways to obtain Jerk with two different characteristic properties:

1.1 Jerk_{_fast}，a_{_fast}the device can quickly follow the fluctuation of the deceleration a, better reflects the peak value, and is suitable for transient monitoring;

1.2 Jerk_{_slow}，a_{_slow}the fluctuation condition of the deceleration a in a period of time can be well reflected, and the method is suitable for long-term monitoring;

the following scenarios are applicable according to the above two different monitoring situations:

s1, calculating by the driver' S sudden acceleration or braking causing a single towering of the vehicle, and is counted as K_peak；

S2, the driver steps on the brake and the accelerator for a plurality of times in a period of time to cause the vehicle to generate continuous small towering, and when the towering is generated for a plurality of times in a certain period of time, the passengers feel uncomfortable and countFor this purpose, the calculation is carried out in terms of K_creep；

S3, continuously braking by the driver with a large deceleration, when the continuous time is long, calculating the continuous time and recording the K_panic；

S4, the driver continuously increases the braking force, even if the absolute value of the deceleration is not large, the continuously increased deceleration can make the passengers feel dizzy, and the calculation is carried out according to the fact that the continuously increased deceleration is K_prog；

S5, when the driver switches the accelerator and the brake operation in a short time to cause the vehicle to back and forth rise, even if the absolute value of the deceleration is not large, the passenger feels uncomfortable because the deceleration is overturned, and the K is calculated and counted_reb；K_prog

Finally, the data calculated in S1 to S5 are used to calculate the total discomfort K_tot＝K_peak+K_creep+K_panic+K_prog+K_rebThe driving distance ODO is recorded,

then use the per kilometer discomfort

To measure the longitudinal driving comfort of the driver.

Preferably, Jerk is calculated specifically_{_fast}，a_{_fast}The method comprises the following steps: derivation of the original deceleration a

Then to Jerk_rawUsing a Butterworth 4 order filter with a cut-off frequency of 50Hz to obtain Jerk_{_fast}。

Preferably, Jerk is calculated specifically_{_slow}，a_{_slow}The method comprises the following steps: for v_rawFitting a 4 th-order polynomial to obtain v_f，v_f＝p₁*t⁴+p₂*t³+p₃*t²+p₄*t+p₅，

Then fit

Fitting

If the fitting time is too long, the curve characteristics are easily lost, so that fitting is carried out by taking 4s as a time unit, and then the data from the 2s to the 3s in the fitting curve are sequentially spliced to obtain the final Jerk_{_slow}，a_{_slow}。

Preferably, K is specifically calculated_peakThe following were used:

calculating Jerk first_{_fas}the t peak value is in which threshold interval, then the discomfort factor Uncomf is taken as a corresponding value and is cumulatively counted into the scene discomfort K_peakThe method comprises the following steps:

preferably, K is specifically calculated_creepThe following were used:

L_{creep_thr}sampling Interval time T for comfort threshold of the scene_creep0The upper threshold is J_{creep_pos}The lower threshold is J_{creep_neg}The Counter is Counter, and the initial value of Counter is Counter __iniThe step length of increase is: counter \u_incrementThe descending step length is Counter_decrement；

(general J)_thr3＜J_{creep_neg}＜0，0＜J_{creep_pos}＜J_thr4)

Starting from time 0, at a sampling interval T_creep0The calculation is performed for the step size,

if Jerk_{_fast}>J_{creep_pos}Or Jerk_{_fast}<J_{creep_neg}Then, then

Counter＝Counter+Counter_{_increment}，

If J is_{creep_neg}＜Jerk_{_fast}＜J_{creep_pos}Then, then

Each T_creep0Period, Counter-Counter_{_decrement}

If Counter>L_{creep_thr}Then, then

K_creep＝K_creep+U_ncomf2。

Preferably, K is specifically calculated_panicThe method comprises the following steps:

defining a deceleration threshold as a_{panic_thr}The cumulative time threshold is T_{panic_thr}Sampling interval T_panic0Counter, the initial value is Counter _{_ini}0, increment step Counter_{_increment}0.1 for each sampling interval T_panic0，

When a is_{_fast}≤a_{panic_thr}，Counter＝Counter+Counter_{_increment}，

a_{_fast}＞a_{panic_thr}，Counter＝Counter-Counter_{_increment}The minimum value is 0, neglecting,

if Counter is greater than T_{panic_thr}It is considered that an uncomfortable feeling is generated,

K_panic＝K_panic+U_ncomf1。

preferably, K is specifically calculated_progThe following were used:

defining the Jerk threshold as Jerk_{prog_thr}The cumulative time threshold is T_{prog_thr}With a sampling interval of T_prog0Counter, the initial value is Counter _{_ini}0, increment step Counter_{_increment}0.1 for each sampling interval T_prog0，

When Jerk_{_slow}≤Jerk_{prog_thr}，Counter＝Counter+Counter_{_increment}，

Jerk_{_slow}＞Jerk_{prog_thr}，Counter＝Counter-Counter_{_increment}If the minimum value is 0, neglecting;

if Counter is greater than T_{prog_thr}It is considered that an uncomfortable feeling is generated,

K_prog＝K_prog+U_ncomf2。

preferably, K is specifically calculated_rebThe following were used:

definition a_{reb_posthr}For upper deceleration threshold, a_{reb_negthr}For a lower speed threshold, the time interval is T_reb0，

In the time interval, if a_{_fast}When the upper threshold value and the lower threshold value are passed, the deceleration is indicated to have a turnover, and the discomfort caused by the turnover is calculated as: k_reb＝K_reb+U_conf_im2。

The invention has the beneficial effects that: the invention mainly adopts the deceleration of the vehicle to carry out a special calculation mode to separately calculate instantaneous monitoring and long-term monitoring, superposes discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, and judges the comfort level of a driver in the vehicle through data, thereby judging the driving technology of the driver from the side.

Drawings

FIG. 1 is a Peak diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;

FIG. 2 is a Creep diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;

FIG. 3 is a Panic diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the invention;

FIG. 4 is a Progressive schematic diagram of a longitudinal comfort evaluation method based on vehicle deceleration according to the present invention;

FIG. 5 is a schematic diagram of a method for evaluating longitudinal comfort based on vehicle deceleration according to the invention;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The embodiment is a longitudinal comfort evaluation method based on vehicle deceleration, which comprises a vehicle with an ADAS function, wherein a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining raw data a of deceleration of a vehicle by OBD_rawOriginal data v of vehicle speed_rawDefining the derivative of deceleration

the calculation method comprises the following steps: derivation of the original deceleration a

1.2 Jerk_{_slow}，a_{_slow}The fluctuation condition of the deceleration a in a period of time can be well reflected, and the method is suitable for long-term monitoring.

The calculation method comprises the following steps: for v_raFitting a 4 th-order polynomial to obtain v_f，v_f＝p₁*t⁴+p₂*t³+p₃*t²+p₄*t+p₅，

Then fit

Fitting

The discomfort factor Uncomf ═ (Uncomf) is defined_1-7...) (5,3,0,0,0,3,5), with larger numbers indicating more discomfort.

For the discomfort caused by the driving behavior of the driver, as in the following cases:

peak scene

A large single-time towering of the vehicle, caused by sudden acceleration or braking of the driver, as shown in figure 1,

defining different thresholds characterizing different levels of discomfort

J_thr＝(J_thr1-6...)＝(-20,-10,-5,2,6,10)

At t_peakWithin the interval (here taken to be 1s),

computing Jerk_{_fast}The peak value is in which threshold interval, then the discomfort factor Uncomf takes the corresponding value and is cumulatively counted into the scene discomfort K_peakThe method comprises the following steps:

the following table shows specific discomfort conditions:

Jerk_{_fast}	discomfort level	Uncomf
			Jerk_{_fast}≥J_thr6	Feeling of intense discomfort	Uncomf₇
J_thr5≤Jerk_{_fast}＜J_thr6	Great discomfort	Uncomf₆
			J_thr4≤Jerk_{_fast}＜J_thr5	Slight discomfort	Uncomf₅
J_thr3≤Jerk_{_fast}＜J_thr4	Has no uncomfortable feeling	Uncomf₄
			J_thr2≤Jerk_{_fast}＜J_thr3	Slight discomfort	Uncomf₃
J_thr1≤Jerk_{_fast}＜J_thr2	Great discomfort	Uncomf₂
			Jerk_{_fast}≤J_thr1	Strong and weakFeeling of fit	Uncomf₁

Deep scene

The driver steps on the brake and the accelerator several times in a continuous manner over a period of time, resulting in a continuous small towering of the vehicle. When a plurality of times of shrugs are accumulated for a certain period of time, the passenger feels uncomfortable,

with reference to figure 2 of the drawings,

definition of L_{creep_thr}Sampling Interval time T for comfort threshold of the scene_creep00.5s, upper threshold J_{creep_pos}Lower threshold J_{creep_neg}Counter, the Counter initial value is Counter _{_ini}0, increment step Counter _{_increment}5, down step Counter_{_decrement}＝0.5。

(general J)_thr3＜J_{creep_neg}＜0，0＜J_{creep_pos}＜J_thr4)

if Jerk_{_fast}>J_{creep_pos}Or Jerk_{_fast}<J_{creep_neg}Then, then

Counter＝Counter+Counter_{_increment}，

If J is_{creep_neg}＜Jerk_{_fast}＜J_{creep_pos}Then, then

Each T_creep0Period, Counter-Counter_{_decrement}

If Counter>L_{creep_thr}Then, then

K_creep＝K_creep+U_ncomf2；

Sonic scene

When the driver performs continuous braking at a large deceleration, the passenger feels uncomfortable when the duration is long,

with reference to figure 3 of the drawings,

defining a deceleration threshold a_{panic_thr}Cumulative time threshold T_{panic_thr}Sampling interval T_panic0(0.1 s here), Counter, initial value is Counter _ ir _ni0, increment step Counter_{_increment}0.1 for each sampling interval T_panic0

When a is_{_fast}≤a_{panic_thr}，Counter＝Counter+Counter_{_increment}，

a_{_fast}＞a_{panic_thr}，Counter＝Counter-Counter_{_increment}Minimum value of 0

K_panic＝K_panic+U_ncomf1。

progressive scene

When the driver continues to increase the braking force, even if the absolute value of the deceleration is not large, the continuously increased deceleration may make the passenger feel dizzy,

with reference to figure 4 of the drawings,

defining a Jerk threshold Jerk_{prog_thr}Cumulative time threshold T_{prog_thr}Sampling interval T_prog0(0.1 s here), Counter, initial value is Counter _{_irni}0, increment step count_{_irncreme＝nt}0.1, for each sampling interval T_prog0

When Jerk_{_slow}≤Jerk_{prog_thr}，Counter＝Counter+Counter_{_increment}，

Jerk_{_slow}＞Jerk_{prog_thr}，Counter＝Counter-Counter_{_increment}Minimum value of 0

K_prog＝K_prog+U_ncomf2。

rebound scene

When the driver performs switching of the accelerator and brake operations in a short time to cause the vehicle to climb back and forth, even if the absolute value of the deceleration is not large, the passenger feels discomfort due to the deceleration being reversed,

with reference to figure 5 of the drawings,

definition a_{reb_posthr}Upper deceleration threshold, a_{reb_negthr}Lower speed threshold, time interval T_reb0In the time interval, if a_{_fast}When the upper threshold value and the lower threshold value are crossed, the deceleration is indicated to be overturned once, and discomfort is caused

K_reb＝K_reb+U_confim2。

The total unsuitability K can be calculated by combining the cases in 1-5_tot＝K_peak+K_creep+K_panic+K_prog+K_rebWhen the driving range odo is taken by the OBD, the discomfort per kilometer is

And measuring the longitudinal driving comfort of the driver through the calculated per-kilometer discomfort degree so as to judge the driving level of the driver.

The invention has the advantages that the invention mainly adopts a special calculation mode of the deceleration of the vehicle to separately calculate the instantaneous monitoring and the long-term monitoring, superposes the discomfort caused by different time intervals, calculates the comfort level of each kilometer of the vehicle, and judges the comfort level of the vehicle with the driver through data, thereby judging the driving technique of the driver from the side.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A longitudinal comfort evaluation method based on vehicle deceleration comprises a vehicle with an ADAS function, a data acquisition unit reads various information of the vehicle from an OBD port of the vehicle, and is characterized in that: obtaining original number of decelerations of vehicle by OBDAccording to a_rawOriginal data v of vehicle speed_rawDefining the derivative of deceleration

S2, the driver steps on the brake and the accelerator for a plurality of times in a period of time to cause the vehicle to generate continuous small towering, when the towering is generated for a plurality of times in a certain period of time, the passenger feels uncomfortable, and the calculation is carried out according to the result, and the calculation is counted as K_creep；

Finally, the data calculated in S1 to S5 are used to calculate the total discomfort K_tot＝K_peak+K_creep+K_panic+K_prog+K_rebRecording the driving distance ODO, using the degree of discomfort per kilometer

To measure the longitudinal driving comfort of the driver.

2. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: in particular to calculate Jerk_{_fast}，a_{_fast}The method comprises the following steps: derivation of the original deceleration a

Then to Jerk_rawUsing a butterworth order 4 filter, cut off frequency 50Hz, we get Jerk _ fast.

3. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: in particular to calculate Jerk_{_slow}，a_{_slow}The method comprises the following steps: for v_rawFitting a 4 th-order polynomial to obtain v_f，v_f＝p₁*t⁴+p₂*t³+p₃*t²+p₄*t+p₅，

Then fit

Fitting

4. The longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of K_peakThe following were used:

calculating Jerk first_{_fast}The peak value is in which threshold interval, then the discomfort factor Uncomf takes the corresponding value and is cumulatively counted into the scene discomfort K_peakThe method comprises the following steps:

5. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of K_creepThe following were used:

L_{creep_thr}sampling Interval time T for comfort threshold of the scene_creep0The upper threshold is J_{creep_pos}The lower threshold is J_{creep_neg}The Counter is Counter, and the initial value of the Counter is Counter_{_ini}The step length of increase is: counter_{_increment}The descending step is Counter_{_decrement}；

(general J)_thr3＜J_{creep_neg}＜0，0＜J_{creep_pos}＜J_thr4)

if Jerk_{_fast}>J_{creep_pos}Or Jerk_{_fast}<J_{creep_neg}Then, then

Counter＝Counter+Counter_{_increment}，

If J is_{creep_neg}＜Jerk_{_fast}＜J_{creep_pos}Then, then

Each T_creep0Period, Counter-Counter_{_decrement}

If Counter>L_{creep_thr}Then, then

K_creep＝K_creep+U_ncomf2。

6. According to the rightThe method for evaluating longitudinal comfort based on deceleration of a vehicle according to claim 1, characterized in that: specific calculation of K_panicThe method comprises the following steps:

defining a deceleration threshold as a_{panic_thr}The cumulative time threshold is T_{panic_thr}Sampling interval T_panic0Counter, the initial value is Counter_{_ini}0, increment step Counter_{_increment}0.1 for each sampling interval T_panic0，

When a is_{_fast}≤a_{panic_thr}，Counter＝Counter+Counter_{_increment}，

K_pani_c＝K_panic+U_ncomf1。

7. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of K_progThe following were used:

defining the Jerk threshold as Jerk_{prog_thr}The cumulative time threshold is T_{prog_thr}With a sampling interval of T_prog0Counter, the initial value is Counter_{_ini}0, increment step Counter_{_increment}0.1 for each sampling interval T_prog0，

When Jerk_{_slow}≤Jerk_{prog_thr}，Counter＝Counter+Counter_{_increment}，

K_prog＝K_prog+U_ncomf2。

8. the longitudinal comfort evaluation method based on the vehicle deceleration according to claim 1, characterized in that: specific calculation of K_rebThe following were used:

In the time interval, if a_{_fast}When the upper threshold value and the lower threshold value are passed, the deceleration is indicated to have a turnover, and the discomfort caused by the turnover is calculated as: k_reb＝K_reb+U_confim2。